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《Journal of Shaanxi University of Technology(Natural Science Edition)》 2016-06
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Building D-H coordinate system analysis to robots

SUN Fu;School of Mechanical Engineering,Shaanxi Sci-Tech University;  
D-H method is used widely when analyzing robots and spatial mechanism. However,the fact that there are two joints in middle connecting rod has caused difficulty in understanding and handling in terms of building the linkage'coordinate on the previous or rear joint. On the basis of clarifying the parametric implication,the study has tried building and comparing two methods. It shows that the two methods have achieved equal results. Through examples,the study analyzes D-H parameter list and kinematical equation with the two methods and comes up with D-H coordination selection method when applying D-H coordinates analysis.
【Fund】: 陕西省教育厅科研计划项目(2013JK1038);; 陕西理工学院研究生教改项目(SLGYJG1510)
【CateGory Index】: TP241;TH112
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1 DING Hua-feng;CHEN Yi-chao;ZHANG Yi-yue;CAO Yu;WANG Lu-jun;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University),Ministry of Education of China;College of Chemistry and Chemical Engineering, Fuzhou University;Qinhuangdao Audio-Visual Machinery Research Institute;;Position analysis of a new face-shovel excavator[J];燕山大学学报;2013-04
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